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<a href="#nested-classes">类</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
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<p><code>#include &lt;<a class="el" href="rrt_8h_source.html">rrt.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a0a7bb3a3af2d70c656764fbe8f6ae671"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a0a7bb3a3af2d70c656764fbe8f6ae671">RRT</a> ()</td></tr>
<tr class="separator:a0a7bb3a3af2d70c656764fbe8f6ae671"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09ca68517ff0379f90b7c549136fc5eb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a09ca68517ff0379f90b7c549136fc5eb">RRT</a> (float input_PosX, float input_PosY)</td></tr>
<tr class="separator:a09ca68517ff0379f90b7c549136fc5eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45db97004bbd467c8747f67039b84874"><td class="memItemLeft" align="right" valign="top">vector&lt; <a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a45db97004bbd467c8747f67039b84874">getTree</a> ()</td></tr>
<tr class="separator:a45db97004bbd467c8747f67039b84874"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa87cbb894114472098a8081e05546537"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#aa87cbb894114472098a8081e05546537">setTree</a> (vector&lt; <a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a> &gt; input_rrtTree)</td></tr>
<tr class="separator:aa87cbb894114472098a8081e05546537"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05dc852e0b777042e290dcc96bf605bb"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a05dc852e0b777042e290dcc96bf605bb">getTreeSize</a> ()</td></tr>
<tr class="separator:a05dc852e0b777042e290dcc96bf605bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a0591369964c82b95f08c9f868dbd54"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a5a0591369964c82b95f08c9f868dbd54">addNewNode</a> (<a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a> node)</td></tr>
<tr class="separator:a5a0591369964c82b95f08c9f868dbd54"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a480c7bcf17aef6c0d406829e16ec24c6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a480c7bcf17aef6c0d406829e16ec24c6">removeNode</a> (int nodeID)</td></tr>
<tr class="separator:a480c7bcf17aef6c0d406829e16ec24c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afde36442771a9552bb97572098396c2b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#afde36442771a9552bb97572098396c2b">getNode</a> (int nodeID)</td></tr>
<tr class="separator:afde36442771a9552bb97572098396c2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54760030f6b61b258b6eec4472ced906"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a54760030f6b61b258b6eec4472ced906">getPosX</a> (int nodeID)</td></tr>
<tr class="separator:a54760030f6b61b258b6eec4472ced906"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a499a6d42d47b76c306a80573cba0a555"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a499a6d42d47b76c306a80573cba0a555">getPosY</a> (int nodeID)</td></tr>
<tr class="separator:a499a6d42d47b76c306a80573cba0a555"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af97e1958775e9dcaedaddaae6701d176"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#af97e1958775e9dcaedaddaae6701d176">setPosX</a> (int nodeID, float input_PosX)</td></tr>
<tr class="separator:af97e1958775e9dcaedaddaae6701d176"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad83a4a28dadc2f1c396364af356871c7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#ad83a4a28dadc2f1c396364af356871c7">setPosY</a> (int nodeID, float input_PosY)</td></tr>
<tr class="separator:ad83a4a28dadc2f1c396364af356871c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae781d9ea50b05718fb1e1f26e375f5f8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#ae781d9ea50b05718fb1e1f26e375f5f8">getParent</a> (int nodeID)</td></tr>
<tr class="separator:ae781d9ea50b05718fb1e1f26e375f5f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8abb3cac74e30a830c01478ded18dc50"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a8abb3cac74e30a830c01478ded18dc50">setParentID</a> (int nodeID, int parentID)</td></tr>
<tr class="separator:a8abb3cac74e30a830c01478ded18dc50"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2754f5aa8d9c4e725a0c4c2d73576bd9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a2754f5aa8d9c4e725a0c4c2d73576bd9">addChildID</a> (int nodeID, int childID)</td></tr>
<tr class="separator:a2754f5aa8d9c4e725a0c4c2d73576bd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a873a31d26a94d60ff9359dcc0cda3f"><td class="memItemLeft" align="right" valign="top">vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a5a873a31d26a94d60ff9359dcc0cda3f">getChildren</a> (int nodeID)</td></tr>
<tr class="separator:a5a873a31d26a94d60ff9359dcc0cda3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a886561ecaaa6b048cd56054d09e271ef"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a886561ecaaa6b048cd56054d09e271ef">getChildrenSize</a> (int nodeID)</td></tr>
<tr class="separator:a886561ecaaa6b048cd56054d09e271ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af35d650011a6b834fc1b2d75b879817c"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#af35d650011a6b834fc1b2d75b879817c">getNearestNodeID</a> (float X, float Y)</td></tr>
<tr class="separator:af35d650011a6b834fc1b2d75b879817c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac53bff8e47b1c8200363dc9be966a522"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#ac53bff8e47b1c8200363dc9be966a522">getNearestNodeID</a> (float X, float Y, float goalX, float goalY, int <a class="el" href="rrt_8h.html#aaac2d108c57a5722b9d816baaed80945">rrtStepSize</a>)</td></tr>
<tr class="separator:ac53bff8e47b1c8200363dc9be966a522"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a487dc3036806a9fb506a718257d8a846"><td class="memItemLeft" align="right" valign="top">vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#a487dc3036806a9fb506a718257d8a846">getRootToEndPath</a> (int endNodeID)</td></tr>
<tr class="separator:a487dc3036806a9fb506a718257d8a846"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5480e38a9dad9e0f6e73b23cac804b3"><td class="memItemLeft" align="right" valign="top">vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#ac5480e38a9dad9e0f6e73b23cac804b3">getStartToEndPath</a> (int startNodeID, int endNodeID)</td></tr>
<tr class="separator:ac5480e38a9dad9e0f6e73b23cac804b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:affd1f4f4e35541cdca748bac5c1bbd34"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRT.html#affd1f4f4e35541cdca748bac5c1bbd34">clearRRT</a> ()</td></tr>
<tr class="separator:affd1f4f4e35541cdca748bac5c1bbd34"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock">
<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00027">27</a> 行定义.</p>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a class="anchor" id="a0a7bb3a3af2d70c656764fbe8f6ae671"></a>
<div class="memitem">
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          <td class="memname">RRT::RRT </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00079">79</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;{</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> newNode;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">posX</a> = 0;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">posY</a> = 0;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">parentID</a> = 0;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">nodeID</a> = 0;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">depth</a>=0;  <span class="comment">//根结点深度为0</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    rrtTree.push_back(newNode);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;}</div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a9f5b9bfca61e25fe7f80d361ed7996ff"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">RRT::rrtNode::parentID</a></div><div class="ttdeci">int parentID</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00040">rrt.h:40</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_ab20e6f5be075c8feed605c935924df30"><div class="ttname"><a href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">RRT::rrtNode::depth</a></div><div class="ttdeci">int depth</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00041">rrt.h:41</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_aa8adf5b50e1a2a466771ae3af56b1658"><div class="ttname"><a href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">RRT::rrtNode::nodeID</a></div><div class="ttdeci">int nodeID</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00037">rrt.h:37</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a219cf78a0f5689bc84744df52c37e84d"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">RRT::rrtNode::posY</a></div><div class="ttdeci">float posY</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00039">rrt.h:39</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html"><div class="ttname"><a href="structRRT_1_1rrtNode.html">RRT::rrtNode</a></div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00035">rrt.h:35</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a4c2096fa1d719cf2aa49cf21916a5a4b"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">RRT::rrtNode::posX</a></div><div class="ttdeci">float posX</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00038">rrt.h:38</a></div></div>
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          <td class="memname">RRT::RRT </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>input_PosX</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>input_PosY</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>default constructor for <a class="el" href="classRRT.html">RRT</a> class initializes source to input X,Y adds sorce to rrtTree </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00095">95</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;{</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> newNode;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">posX</a> = input_PosX;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">posY</a> = input_PosY;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">parentID</a> = 0;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">nodeID</a> = 0;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    newNode.<a class="code" href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">depth</a>=0;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    rrtTree.push_back(newNode);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">//cout&lt;&lt;&quot;---RRT init successfully. posX=&quot;&lt;&lt;newNode.posX&lt;&lt;&quot;,posY=&quot;&lt;&lt;newNode.posY&lt;&lt;&quot;---&quot;&lt;&lt;endl;</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a9f5b9bfca61e25fe7f80d361ed7996ff"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a9f5b9bfca61e25fe7f80d361ed7996ff">RRT::rrtNode::parentID</a></div><div class="ttdeci">int parentID</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00040">rrt.h:40</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_ab20e6f5be075c8feed605c935924df30"><div class="ttname"><a href="structRRT_1_1rrtNode.html#ab20e6f5be075c8feed605c935924df30">RRT::rrtNode::depth</a></div><div class="ttdeci">int depth</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00041">rrt.h:41</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_aa8adf5b50e1a2a466771ae3af56b1658"><div class="ttname"><a href="structRRT_1_1rrtNode.html#aa8adf5b50e1a2a466771ae3af56b1658">RRT::rrtNode::nodeID</a></div><div class="ttdeci">int nodeID</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00037">rrt.h:37</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a219cf78a0f5689bc84744df52c37e84d"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a219cf78a0f5689bc84744df52c37e84d">RRT::rrtNode::posY</a></div><div class="ttdeci">float posY</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00039">rrt.h:39</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html"><div class="ttname"><a href="structRRT_1_1rrtNode.html">RRT::rrtNode</a></div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00035">rrt.h:35</a></div></div>
<div class="ttc" id="structRRT_1_1rrtNode_html_a4c2096fa1d719cf2aa49cf21916a5a4b"><div class="ttname"><a href="structRRT_1_1rrtNode.html#a4c2096fa1d719cf2aa49cf21916a5a4b">RRT::rrtNode::posX</a></div><div class="ttdeci">float posX</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00038">rrt.h:38</a></div></div>
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</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a class="anchor" id="a2754f5aa8d9c4e725a0c4c2d73576bd9"></a>
<div class="memitem">
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        <tr>
          <td class="memname">void RRT::addChildID </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>nodeID</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>childID</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>add a new childID to the children list of the given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00239">239</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;{</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    rrtTree[nodeID].children.push_back(childID);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}</div>
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</div>
</div>
<a class="anchor" id="a5a0591369964c82b95f08c9f868dbd54"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void RRT::addNewNode </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a>&#160;</td>
          <td class="paramname"><em>node</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>adding a new node to the rrt Tree </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00138">138</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;{</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    rrtTree.push_back(node);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div>
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</div>
<a class="anchor" id="affd1f4f4e35541cdca748bac5c1bbd34"></a>
<div class="memitem">
<div class="memproto">
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        <tr>
          <td class="memname">void RRT::clearRRT </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00297">297</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;{</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    rrtTree.clear();</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="comment">//cout&lt;&lt;&quot;clear the rrtTree successfully.&quot;&lt;&lt;endl;</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;}</div>
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</div>
<a class="anchor" id="a5a873a31d26a94d60ff9359dcc0cda3f"></a>
<div class="memitem">
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          <td class="memname">vector&lt; int &gt; RRT::getChildren </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>id</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>returns the children list of the given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00247">247</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;{</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordflow">return</span> rrtTree[id].children;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;}</div>
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</div>
</div>
<a class="anchor" id="a886561ecaaa6b048cd56054d09e271ef"></a>
<div class="memitem">
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          <td class="memname">int RRT::getChildrenSize </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>nodeID</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>returns number of children of a given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00255">255</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;{</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordflow">return</span> rrtTree[nodeID].children.size();</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;}</div>
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<a class="anchor" id="af35d650011a6b834fc1b2d75b879817c"></a>
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        <tr>
          <td class="memname">int RRT::getNearestNodeID </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>X</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>Y</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>return a node from the rrt tree nearest to the given point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">X</td><td>position in X cordinate </td></tr>
    <tr><td class="paramname">Y</td><td>position in Y cordinate </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>nodeID of the nearest Node </dd></dl>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00170">170</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;{</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">int</span> i, returnID=-1;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordtype">float</span> distance = <a class="code" href="rrt_8h.html#a8bb5664c6d1d0848c059844294c05988">infinity</a>, tempDistance;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordflow">for</span>(i=0; i&lt;(this-&gt;<a class="code" href="classRRT.html#a05dc852e0b777042e290dcc96bf605bb">getTreeSize</a>()); i++)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        tempDistance = pow(<a class="code" href="classRRT.html#a54760030f6b61b258b6eec4472ced906">getPosX</a>(i) - X,2) + pow(<a class="code" href="classRRT.html#a499a6d42d47b76c306a80573cba0a555">getPosY</a>(i) - Y,2);<span class="comment">//使用平方距离作为比较值，减少开方运算</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordflow">if</span> (tempDistance &lt; distance)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            distance = tempDistance;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            returnID = i;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">return</span> returnID;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="ttc" id="classRRT_html_a05dc852e0b777042e290dcc96bf605bb"><div class="ttname"><a href="classRRT.html#a05dc852e0b777042e290dcc96bf605bb">RRT::getTreeSize</a></div><div class="ttdeci">int getTreeSize()</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00130">rrt.h:130</a></div></div>
<div class="ttc" id="classRRT_html_a54760030f6b61b258b6eec4472ced906"><div class="ttname"><a href="classRRT.html#a54760030f6b61b258b6eec4472ced906">RRT::getPosX</a></div><div class="ttdeci">float getPosX(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00191">rrt.h:191</a></div></div>
<div class="ttc" id="classRRT_html_a499a6d42d47b76c306a80573cba0a555"><div class="ttname"><a href="classRRT.html#a499a6d42d47b76c306a80573cba0a555">RRT::getPosY</a></div><div class="ttdeci">float getPosY(int nodeID)</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00199">rrt.h:199</a></div></div>
<div class="ttc" id="rrt_8h_html_a8bb5664c6d1d0848c059844294c05988"><div class="ttname"><a href="rrt_8h.html#a8bb5664c6d1d0848c059844294c05988">infinity</a></div><div class="ttdeci">float infinity</div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00018">rrt.h:18</a></div></div>
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<a class="anchor" id="ac53bff8e47b1c8200363dc9be966a522"></a>
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          <td class="memname">int RRT::getNearestNodeID </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>X</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>Y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>goalX</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>goalY</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>rrtStepSize</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="afde36442771a9552bb97572098396c2b"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> RRT::getNode </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>id</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>getting a specific node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">node</td><td>id for the required node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>node in the <a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a> structure </dd></dl>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00159">159</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;{</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">return</span> rrtTree[id];</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;}</div>
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</div>
<a class="anchor" id="ae781d9ea50b05718fb1e1f26e375f5f8"></a>
<div class="memitem">
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        <tr>
          <td class="memname"><a class="el" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> RRT::getParent </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>id</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>returns parentID of the given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00223">223</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;{</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">return</span> rrtTree[rrtTree[id].parentID];</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div>
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</div>
<a class="anchor" id="a54760030f6b61b258b6eec4472ced906"></a>
<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">float RRT::getPosX </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>nodeID</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>returns X coordinate of the given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00191">191</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;{</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordflow">return</span> rrtTree[nodeID].posX;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div>
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</div>
<a class="anchor" id="a499a6d42d47b76c306a80573cba0a555"></a>
<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">float RRT::getPosY </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>nodeID</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>returns Y coordinate of the given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00199">199</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;{</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordflow">return</span> rrtTree[nodeID].posY;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div>
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<a class="anchor" id="a487dc3036806a9fb506a718257d8a846"></a>
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        <tr>
          <td class="memname">vector&lt; int &gt; RRT::getRootToEndPath </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>endNodeID</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>returns path from root to end node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">endNodeID</td><td>of the end node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>path containing ID of member nodes in the vector form </dd></dl>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00273">273</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;{</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    vector&lt;int&gt; path;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    path.push_back(endNodeID);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keywordflow">while</span>(rrtTree[path.front()].nodeID != 0)</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    {</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        <span class="comment">//std::cout&lt;&lt;rrtTree[path.front()].nodeID&lt;&lt;endl;</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        path.insert(path.begin(),rrtTree[path.front()].parentID);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keywordflow">return</span> path;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;}</div>
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          <td class="memname">vector&lt; int &gt; RRT::getStartToEndPath </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>startNodeID</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>endNodeID</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00285">285</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;{</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    vector&lt;int&gt; path;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    path.push_back(endNodeID);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordflow">while</span>(rrtTree[path.front()].nodeID != startNodeID)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    {</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="comment">//std::cout&lt;&lt;rrtTree[path.front()].nodeID&lt;&lt;endl;</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        path.insert(path.begin(),rrtTree[path.front()].parentID);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordflow">return</span> path;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;}</div>
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          <td class="memname">vector&lt; <a class="el" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> &gt; RRT::getTree </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Returns the current <a class="el" href="classRRT.html">RRT</a> tree </p>
<dl class="section return"><dt>返回</dt><dd><a class="el" href="classRRT.html">RRT</a> Tree </dd></dl>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00112">112</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">return</span> rrtTree;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div>
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          <td class="memname">int RRT::getTreeSize </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>to get the number of nodes in the rrt Tree </p>
<dl class="section return"><dt>返回</dt><dd>tree size </dd></dl>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00130">130</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">return</span> rrtTree.size();</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div>
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<a class="anchor" id="a480c7bcf17aef6c0d406829e16ec24c6"></a>
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          <td class="memname"><a class="el" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> RRT::removeNode </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>id</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>removing a node from the <a class="el" href="classRRT.html">RRT</a> Tree </p>
<dl class="section return"><dt>返回</dt><dd>the removed tree </dd></dl>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00147">147</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;{</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <a class="code" href="structRRT_1_1rrtNode.html">RRT::rrtNode</a> tempNode = rrtTree[id];</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    rrtTree.erase(rrtTree.begin()+id);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">return</span> tempNode;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
<div class="ttc" id="structRRT_1_1rrtNode_html"><div class="ttname"><a href="structRRT_1_1rrtNode.html">RRT::rrtNode</a></div><div class="ttdef"><b>Definition:</b> <a href="rrt_8h_source.html#l00035">rrt.h:35</a></div></div>
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          <td class="memname">void RRT::setParentID </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>nodeID</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>parentID</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>set parentID of the given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00231">231</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;{</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    rrtTree[nodeID].parentID = parentID;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;}</div>
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          <td class="memname">void RRT::setPosX </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>nodeID</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>input_PosX</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>set X coordinate of the given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00207">207</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;{</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    rrtTree[nodeID].posX = input_PosX;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;}</div>
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<a class="anchor" id="ad83a4a28dadc2f1c396364af356871c7"></a>
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          <td class="memname">void RRT::setPosY </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>nodeID</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>input_PosY</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>set Y coordinate of the given node </p>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00215">215</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;{</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    rrtTree[nodeID].posY = input_PosY;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;}</div>
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          <td class="memname">void RRT::setTree </td>
          <td>(</td>
          <td class="paramtype">vector&lt; <a class="el" href="structRRT_1_1rrtNode.html">rrtNode</a> &gt;&#160;</td>
          <td class="paramname"><em>input_rrtTree</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>For setting the rrtTree to the inputTree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">rrtTree</td><td></td></tr>
  </table>
  </dd>
</dl>

<p>在文件 <a class="el" href="rrt_8h_source.html">rrt.h</a> 第 <a class="el" href="rrt_8h_source.html#l00121">121</a> 行定义.</p>
<div class="fragment"><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;{</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    rrtTree = input_rrtTree;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;}</div>
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</div>
</div>
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